#

whycq

2025-02-06 318bd727e2fe02e4f541dfe943f77606af41d509

 app/src/main/res/layout/activity_main.xml

@@ -11,9 +11,156 @@
        android:background="#334455"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:orientation="vertical"
        android:padding="10dp"
        android:layout_weight="4">
        <LinearLayout
            android:layout_width="match_parent"
            android:layout_height="0dp"
            android:layout_weight="2"
            android:orientation="vertical">
            >
            <TextView
                android:id="@+id/agv_battery"
                android:layout_width="match_parent"
                android:layout_height="wrap_content"
                android:gravity=""
                android:textSize="14sp"
                android:text="电量：100%"
                android:textColor="#FFFFFF" />
            <TextView
                android:id="@+id/agv_no"
                android:layout_width="match_parent"
                android:layout_height="wrap_content"
                android:gravity=""
                android:textSize="14sp"
                android:text="AGV编号：1"
                android:textColor="#FFFFFF" />
            <TextView
                android:id="@+id/agv_status"
                android:layout_width="match_parent"
                android:layout_height="wrap_content"
                android:gravity=""
                android:textSize="14sp"
                android:text="AGV状态：空闲"
                android:textColor="#FFFFFF" />
            <LinearLayout
                android:layout_width="match_parent"
                android:layout_height="wrap_content" >
                <TextView
                    android:layout_width="wrap_content"
                    android:layout_height="wrap_content"
                    android:gravity=""
                    android:textSize="12sp"
                    android:layout_marginRight="10dp"
                    android:text="当前位置"
                    android:textColor="#FFFFFF" />
                <TextView
                    android:id="@+id/agv_position_id"
                    android:layout_width="wrap_content"
                    android:layout_height="wrap_content"
                    android:gravity=""
                    android:textSize="12sp"
                    android:layout_marginRight="10dp"
                    android:text="ID：9987"
                    android:textColor="#FFFFFF" />
                <TextView
                    android:id="@+id/agv_position_x"
                    android:layout_width="wrap_content"
                    android:layout_height="wrap_content"
                    android:gravity=""
                    android:textSize="12sp"
                    android:layout_marginRight="10dp"
                    android:text="(X)：123087"
                    android:textColor="#FFFFFF" />
                <TextView
                    android:id="@+id/agv_position_y"
                    android:layout_width="wrap_content"
                    android:layout_height="wrap_content"
                    android:gravity=""
                    android:textSize="12sp"
                    android:layout_marginRight="10dp"
                    android:text="(Y)：432311"
                    android:textColor="#FFFFFF" />
            </LinearLayout>
            <LinearLayout
                android:layout_width="match_parent"
                android:layout_height="wrap_content" >
                <TextView
                    android:id="@+id/agv_position_height"
                    android:layout_width="wrap_content"
                    android:layout_height="wrap_content"
                    android:gravity=""
                    android:textSize="12sp"
                    android:layout_marginRight="10dp"
                    android:text="当前高度：100mm"
                    android:textColor="#FFFFFF" />
                <TextView
                    android:id="@+id/agv_ford"
                    android:layout_width="wrap_content"
                    android:layout_height="wrap_content"
                    android:gravity=""
                    android:textSize="12sp"
                    android:layout_marginRight="10dp"
                    android:text="货叉伸出距离：30mm"
                    android:textColor="#FFFFFF" />
                <TextView
                    android:id="@+id/agv_ratio"
                    android:layout_width="wrap_content"
                    android:layout_height="wrap_content"
                    android:gravity=""
                    android:textSize="12sp"
                    android:layout_marginRight="10dp"
                    android:text="货叉旋转角度：90°"
                    android:textColor="#FFFFFF" />
            </LinearLayout>
            <TextView
                android:id="@+id/agv_error"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:gravity=""
                android:textSize="12sp"
                android:layout_marginRight="10dp"
                android:text="AGV故障：导航故障 > 待机状态下丢码"
                android:textColor="#FFFFFF" />
        </LinearLayout>
        <RelativeLayout
            android:layout_width="match_parent"
            android:layout_height="0dp"
            android:layout_weight="1"
            android:orientation="vertical"
            android:background="#FFFFFF"
            android:radius="10dp"
            >
            <TextView
                android:id="@+id/recent_log_text_view"
                android:layout_width="match_parent"
                android:layout_height="match_parent"
                />
            <com.google.android.material.button.MaterialButton
                android:id="@+id/view_all_logs_button"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:layout_alignParentBottom="true"
                android:layout_alignParentEnd="true"
                android:layout_margin="16dp"
                android:layout_marginLeft="20sp"
                android:layout_centerVertical="true"
                android:layout_alignParentLeft="true"
                android:layout_marginRight="20sp"
                android:backgroundTint="#2196F3"
                android:minWidth="10dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:text="全部信息"
                app:cornerRadius="5dp" />
        </RelativeLayout>
    </LinearLayout>

    <!--    ****************  底盘  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_bottom"
        android:visibility="gone"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6">
@@ -23,7 +170,7 @@
            android:layout_height="100sp"
            android:layout_margin="30sp"
            android:text="STOP"
            android:textSize="20sp"
            android:textSize="18sp"
            android:layout_centerInParent="true"
            android:backgroundTint="#F62727" />

@@ -55,29 +202,13 @@
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_up"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="上升"
            android:layout_marginRight="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:layout_alignLeft="@+id/btn_rotatopn_left"
            android:layout_alignBottom="@+id/btn_go_backward"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_rotatopn_left"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="左旋转"
            android:layout_marginRight="20sp"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
@@ -89,6 +220,737 @@
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="右旋转"
            android:layout_marginRight="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

    </RelativeLayout>

    <!--    ****************  货叉  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_top"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:visibility="visible">

        <Button
            android:id="@+id/btn_stop2"
            android:layout_width="100sp"
            android:layout_height="100sp"
            android:layout_centerInParent="true"
            android:layout_margin="30sp"
            android:backgroundTint="#F62727"
            android:text="STOP"
            android:textSize="18sp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_extend_fork"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_centerHorizontal="true"
            android:layout_marginTop="10sp"
            android:backgroundTint="@color/bulue.500"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="伸叉"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_collect_fork"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentBottom="true"
            android:layout_centerHorizontal="true"
            android:layout_marginBottom="10sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="收叉"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_rise"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_front_paddle_extend"
            android:layout_alignBottom="@+id/btn_turn_left"
            android:layout_centerVertical="true"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="上升"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_drop"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_front_paddle_extend"
            android:layout_alignBottom="@+id/btn_collect_fork"
            android:layout_marginTop="-24dp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="下降"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_turn_right"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignBottom="@+id/btn_collect_fork"
            android:layout_alignParentRight="true"
            android:layout_centerVertical="true"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="右旋"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_turn_left"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignTop="@+id/btn_stop2"
            android:layout_alignParentRight="true"
            android:layout_marginTop="70dp"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="左旋"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_back_paddle_extend"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignBottom="@+id/btn_extend_fork"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="后拨杆伸出"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_back_paddle_collect"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignBottom="@+id/btn_front_paddle_collect"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="后拨杆收起"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_front_paddle_extend"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentLeft="true"
            android:layout_alignBottom="@+id/btn_extend_fork"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="前拨杆伸出"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_front_paddle_collect"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignTop="@+id/btn_stop2"
            android:layout_alignParentLeft="true"
            android:layout_marginTop="-24dp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="前拨杆收起"

            app:cornerRadius="5dp" />


    </RelativeLayout>

    <!--    ****************  单轴  ****************    -->

    <GridLayout
        android:id="@+id/layout_single"
        android:visibility="gone"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:rowCount="3"
        android:columnCount="3">

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_1_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="正转"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_1_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="反转"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch1"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="左轮使能"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_2_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="正转"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_2_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="反转"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch2"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="右轮使能"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_3_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="上升"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_3_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="下降"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch3"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="升降使能"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_4_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="正向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_4_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="反向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch4"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="货叉回转使能"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_5_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="伸出"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_5_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="回缩"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch5"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="货叉伸缩使能"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_6_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="正向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_6_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="反向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch6"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="拨指使能1"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_7_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="正向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_7_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="反向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch7"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="拨指使能2"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_8_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="正向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_8_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="反向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch8"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="拨指使能3"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="0dp"
            android:layout_rowWeight="1"
            android:layout_columnWeight="1"
            android:orientation="vertical"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_9_front"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="正向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_axle_9_back"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="反向"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3"
                android:layout_marginBottom="10sp"
                android:visibility="gone"/>
            <Switch
                android:id="@+id/switch9"
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="拨指使能4"
                android:textSize="12sp"
                android:layout_alignParentBottom="true"
                android:layout_centerHorizontal="true"
                />

        </LinearLayout>
    </GridLayout>



<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_single_2"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_alignLeft="@+id/btn_single_5"-->
<!--            android:layout_marginTop="10sp"-->
<!--            android:backgroundTint="#2196F3"-->
<!--            android:text="轴 - 2"-->
<!--            app:cornerRadius="5dp" />-->

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_single_3"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_alignParentRight="true"-->
<!--            android:layout_marginRight="20sp"-->
<!--            android:layout_marginTop="10sp"-->
<!--            android:backgroundTint="#2196F3"-->
<!--            android:text="轴 - 3"-->
<!--            app:cornerRadius="5dp" />-->

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_single_4"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_alignLeft="@+id/btn_single_1"-->
<!--            android:layout_alignBottom="@+id/btn_single_5"-->
<!--            android:backgroundTint="#2196F3"-->
<!--            android:text="轴 - 4"-->
<!--            app:cornerRadius="5dp" />-->

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_single_5"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_centerInParent="true"-->
<!--            android:backgroundTint="#2196F3"-->
<!--            android:text="轴 - 5"-->
<!--            app:cornerRadius="5dp" />-->

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_single_6"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_alignLeft="@+id/btn_single_3"-->
<!--            android:layout_alignBottom="@+id/btn_single_5"-->
<!--            android:backgroundTint="#2196F3"-->
<!--            android:text="轴 - 6"-->
<!--            app:cornerRadius="5dp" />-->

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_single_7"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_alignLeft="@+id/btn_single_1"-->
<!--            android:layout_alignBottom="@+id/btn_single_8"-->
<!--            android:backgroundTint="#2196F3"-->
<!--            android:text="轴 - 7"-->
<!--            app:cornerRadius="5dp" />-->

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_single_8"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_alignParentBottom="true"-->
<!--            android:layout_marginBottom="20sp"-->
<!--            android:layout_alignLeft="@+id/btn_single_5"-->
<!--            android:layout_marginTop="10sp"-->
<!--            android:backgroundTint="#2196F3"-->
<!--            android:text="轴 - 8"-->
<!--            app:cornerRadius="5dp" />-->

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_single_9"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_alignLeft="@+id/btn_single_3"-->
<!--            android:layout_alignBottom="@+id/btn_single_8"-->
<!--            android:backgroundTint="#2196F3"-->
<!--            android:text="轴 - 9"-->
<!--            app:cornerRadius="5dp" />-->


    <!--    ****************  复位  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_reset"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:visibility="gone">

        <Button
            android:id="@+id/btn_stop3"
            android:layout_width="100sp"
            android:layout_height="100sp"
            android:layout_centerInParent="true"
            android:layout_margin="30sp"
            android:backgroundTint="#F62727"
            android:text="STOP"
            android:textSize="18sp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_camera_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="相机复位"
            android:layout_marginLeft="20sp"
            android:layout_marginTop="20sp"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_load_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="清除路径"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentLeft="true"
@@ -99,34 +961,345 @@
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_force_switch"
            android:id="@+id/btn_fork_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="手动"
            android:text="货叉归零"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_marginBottom="20sp"
            android:layout_alignParentBottom="true"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:layout_alignLeft="@+id/btn_rotatopn_left"
            android:layout_alignBottom="@+id/btn_go_forward"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_gyro_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="陀螺仪复位"
            android:layout_marginRight="20sp"
            android:layout_marginTop="20sp"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_lift_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="升降归零"
            android:layout_marginRight="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_all_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="整机复位"
            android:layout_marginRight="20sp"
            android:layout_alignParentRight="true"
            android:layout_alignParentBottom="true"
            android:layout_marginBottom="20sp"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

    </RelativeLayout>
<!--    <LinearLayout-->
<!--        android:layout_width="match_parent"-->
<!--        android:layout_height="0dp"-->
<!--        android:layout_weight="6">-->
<!--        -->
<!--    </LinearLayout>-->

    <!--    ****************  18轴  ****************    -->
    <GridLayout
        android:id="@+id/layout_18"
        android:visibility="gone"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:columnCount="4"
        android:rowCount="2"
        android:padding="5dp">


<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_1_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="前进"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_1_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="后退"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_2_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="左旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_2_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="右旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_3_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="左旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_3_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="右旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_4_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="左旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_4_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="右旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_5_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="左旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_5_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="右旋转"/>-->
<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_6_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="左旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_6_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="右旋转"/>-->
<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_7_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="左旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_7_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="右旋转"/>-->
<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_8_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="左旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_8_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="右旋转"/>-->
<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_9_front"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="左旋转"/>-->

<!--        <com.example.customBtn.CustomBtn-->
<!--            android:id="@+id/btn_axle_9_back"-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:layout_columnWeight="1"-->
<!--            style="@style/CustomButtonStyle"-->
<!--            android:text="右旋转"/>-->

    </GridLayout>

    <!--    ****************  底部  ****************    -->
    <LinearLayout
        android:background="#334455"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="1">

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_model_switch"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="手动模式"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3" />
        </LinearLayout>



        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_single_switch"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="单轴使能"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:onClick="switchSingle"
                android:textSize="10sp"
                android:backgroundTint="#2196F3" />
        </LinearLayout>

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_body_switch"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="底盘"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:onClick="switchover"
                android:backgroundTint="#2196F3" />
        </LinearLayout>

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_reset"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="复位"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:onClick="switchRest"
                android:backgroundTint="#2196F3" />
        </LinearLayout>

<!--        <LinearLayout-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="match_parent"-->
<!--            android:layout_weight="1"-->
<!--            android:gravity="center">-->
<!--            <com.google.android.material.button.MaterialButton-->
<!--                android:layout_width="wrap_content"-->
<!--                android:layout_height="40dp"-->
<!--                android:text="功能切换"-->
<!--                android:layout_centerHorizontal="true"-->
<!--                app:cornerRadius="5dp"-->
<!--                android:paddingLeft="10dp"-->
<!--                android:paddingRight="10dp"-->
<!--                android:minWidth="10dp"-->
<!--                android:textSize="10sp"-->
<!--                android:backgroundTint="#2196F3" />-->
<!--        </LinearLayout>-->


        <!--        <LinearLayout-->
        <!--            android:layout_width="0dp"-->
        <!--            android:layout_height="match_parent"-->
        <!--            android:layout_weight="1"-->
        <!--            android:gravity="center">-->
        <!--            <com.google.android.material.button.MaterialButton-->
        <!--                android:id="@+id/btn_force_switch"-->
        <!--                android:layout_width="wrap_content"-->
        <!--                android:layout_height="40dp"-->
        <!--                android:text="开启强制"-->
        <!--                android:layout_centerHorizontal="true"-->
        <!--                app:cornerRadius="5dp"-->
        <!--                android:paddingLeft="10dp"-->
        <!--                android:paddingRight="10dp"-->
        <!--                android:minWidth="10dp"-->
        <!--                android:textSize="10sp"-->
        <!--                android:backgroundTint="#2196F3" />-->
        <!--        </LinearLayout>-->

    </LinearLayout>